Motion tasks and force control for robot manipulators on embedded 2-D manifolds

Papageorgiou, X; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:50Z
dc.date.available	2014-03-01T02:44:50Z
dc.date.issued	2007	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31969
dc.subject	Closed Form Solution	en
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Force Control	en
dc.subject	Motion Planning	en
dc.subject	Robot Manipulator	en
dc.subject	Trajectory Tracking	en
dc.subject	Vector Field	en
dc.subject	Real Time Systems	en
dc.subject.other	Force control	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation	en
dc.subject.other	Tracking (position)	en
dc.subject.other	Two dimensional	en
dc.subject.other	Vectors	en
dc.subject.other	End-effectors	en
dc.subject.other	Motion tasks	en
dc.subject.other	Robot manipulators	en
dc.subject.other	Workspace	en
dc.subject.other	Manipulators	en
dc.title	Motion tasks and force control for robot manipulators on embedded 2-D manifolds	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2007.364125	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2007.364125	en
heal.identifier.secondary	4209743	en
heal.publicationDate	2007	en
heal.abstract	In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace, and at the same time the manipulator can apply a force to the object, through its end-effector. Three typical tasks are considered, namely stabilization of the end effector over the object's surface and applying a specific force on it, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and are based on the belt zone vector fields concept. The derived dynamic controllers are realized using an integrator backstepping methodology. The derived feedback based controllers guarantee global convergence and collision avoidance. The closed form solution provides fast feedback rendering the methodology particularly suitable for implementation on real time systems. The properties of the proposed methodology are verified through non-trivial computer simulations. © 2007 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2007.364125	en
dc.identifier.spage	4202	en
dc.identifier.epage	4207	en